Outsource the contact manifold, SAT, and some shapes.

4 files changed, 18 insertions, 22 deletions

diff --git a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
index eda6547..5c1a105 100644
--- a/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
+++ b/src/geometry/proximity_detector/ball_convex_proximity_detector.rs
@@ -1,7 +1,7 @@
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
 use crate::geometry::{Ball, Proximity};
 use crate::math::Isometry;
-use ncollide::query::PointQuery;
+use buckler::query::PointQuery;
 
 pub fn detect_proximity_ball_convex(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
     if let Some(ball1) = ctxt.shape1.as_ball() {
@@ -13,7 +13,7 @@ pub fn detect_proximity_ball_convex(ctxt: &mut PrimitiveProximityDetectionContex
     }
 }
 
-fn do_detect_proximity<P: ?Sized + PointQuery<f32>>(
+fn do_detect_proximity<P: ?Sized + PointQuery>(
     point_query1: &P,
     ball2: &Ball,
     ctxt: &PrimitiveProximityDetectionContext,
@@ -22,11 +22,8 @@ fn do_detect_proximity<P: ?Sized + PointQuery<f32>>(
         .position1
         .inverse_transform_point(&ctxt.position2.translation.vector.into());
 
-    // TODO: add a `project_local_point` to the PointQuery trait to avoid
-    // the identity isometry.
-    let proj =
-        point_query1.project_point(&Isometry::identity(), &local_p2_1, cfg!(feature = "dim3"));
-    let dpos = local_p2_1 - proj.point;
+    let proj = point_query1.project_local_point(&local_p2_1, cfg!(feature = "dim3"));
+    let dpos = local_p2_1 - proj.local_point;
     let dist = dpos.norm();
 
     if proj.is_inside {
diff --git a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
index ae885b3..93a5103 100644
--- a/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
+++ b/src/geometry/proximity_detector/cuboid_cuboid_proximity_detector.rs
@@ -1,7 +1,8 @@
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::{sat, Proximity};
+use crate::geometry::Proximity;
 use crate::math::Isometry;
-use ncollide::shape::Cuboid;
+use buckler::query::sat;
+use buckler::shape::Cuboid;
 
 pub fn detect_proximity_cuboid_cuboid(ctxt: &mut PrimitiveProximityDetectionContext) -> Proximity {
     if let (Some(cube1), Some(cube2)) = (ctxt.shape1.as_cuboid(), ctxt.shape2.as_cuboid()) {
@@ -19,9 +20,9 @@ pub fn detect_proximity_cuboid_cuboid(ctxt: &mut PrimitiveProximityDetectionCont
 
 pub fn detect_proximity<'a>(
     prediction_distance: f32,
-    cube1: &'a Cuboid<f32>,
+    cube1: &'a Cuboid,
     pos1: &'a Isometry<f32>,
-    cube2: &'a Cuboid<f32>,
+    cube2: &'a Cuboid,
     pos2: &'a Isometry<f32>,
 ) -> Proximity {
     let pos12 = pos1.inverse() * pos2;
@@ -32,14 +33,12 @@ pub fn detect_proximity<'a>(
      * Point-Face
      *
      */
-    let sep1 =
-        sat::cuboid_cuboid_find_local_separating_normal_oneway(cube1, cube2, &pos12, &pos21).0;
+    let sep1 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube1, cube2, &pos12).0;
     if sep1 > prediction_distance {
         return Proximity::Disjoint;
     }
 
-    let sep2 =
-        sat::cuboid_cuboid_find_local_separating_normal_oneway(cube2, cube1, &pos21, &pos12).0;
+    let sep2 = sat::cuboid_cuboid_find_local_separating_normal_oneway(cube2, cube1, &pos21).0;
     if sep2 > prediction_distance {
         return Proximity::Disjoint;
     }
@@ -52,7 +51,7 @@ pub fn detect_proximity<'a>(
     #[cfg(feature = "dim2")]
     let sep3 = -f32::MAX; // This case does not exist in 2D.
     #[cfg(feature = "dim3")]
-    let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cube1, cube2, &pos12, &pos21).0;
+    let sep3 = sat::cuboid_cuboid_find_local_separating_edge_twoway(cube1, cube2, &pos12).0;
     if sep3 > prediction_distance {
         return Proximity::Disjoint;
     }
diff --git a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
index 532ab36..922855a 100644
--- a/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
+++ b/src/geometry/proximity_detector/cuboid_triangle_proximity_detector.rs
@@ -1,6 +1,7 @@
 use crate::geometry::proximity_detector::PrimitiveProximityDetectionContext;
-use crate::geometry::{sat, Cuboid, Proximity, Triangle};
+use crate::geometry::{Cuboid, Proximity, Triangle};
 use crate::math::Isometry;
+use buckler::query::sat;
 
 pub fn detect_proximity_cuboid_triangle(
     ctxt: &mut PrimitiveProximityDetectionContext,
@@ -44,7 +45,7 @@ pub fn detect_proximity<'a>(
      *
      */
     let sep1 =
-        sat::cube_support_map_find_local_separating_normal_oneway(cube1, triangle2, &pos12).0;
+        sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, triangle2, &pos12).0;
     if sep1 > prediction_distance {
         return Proximity::Disjoint;
     }
@@ -62,8 +63,7 @@ pub fn detect_proximity<'a>(
     #[cfg(feature = "dim2")]
     let sep3 = -f32::MAX; // This case does not exist in 2D.
     #[cfg(feature = "dim3")]
-    let sep3 =
-        sat::cube_triangle_find_local_separating_edge_twoway(cube1, triangle2, &pos12, &pos21).0;
+    let sep3 = sat::cuboid_triangle_find_local_separating_edge_twoway(cube1, triangle2, &pos12).0;
     if sep3 > prediction_distance {
         return Proximity::Disjoint;
     }
diff --git a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
index b469637..5366b39 100644
--- a/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
+++ b/src/geometry/proximity_detector/trimesh_shape_proximity_detector.rs
@@ -1,12 +1,12 @@
+use crate::buckler::bounding_volume::{BoundingVolume, AABB};
 use crate::geometry::proximity_detector::{
     PrimitiveProximityDetectionContext, ProximityDetectionContext,
 };
 use crate::geometry::{Collider, Proximity, ShapeType, Trimesh};
-use crate::ncollide::bounding_volume::{BoundingVolume, AABB};
 
 pub struct TrimeshShapeProximityDetectorWorkspace {
     interferences: Vec<usize>,
-    local_aabb2: AABB<f32>,
+    local_aabb2: AABB,
     old_interferences: Vec<usize>,
 }